ubuntu环境配置

用于SLAM研究的UBUNTU 16.04系统环境配置

目录

1. ROS

见官方介绍，ROS Kinetic Install
换源之后先装ROS，防止ROS依赖包来源混合，导致后续出错。

2. OpenCV

安装ROS时会自动安装opencv，也可以自己编译安装一个，可以自由选择版本。
安装依赖：

$ sudo apt-get install build-essential
$ sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
$ sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev # 处理图像所需的包
$ sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev liblapacke-dev
$ sudo apt-get install libxvidcore-dev libx264-dev # 处理视频所需的包
$ sudo apt-get install libatlas-base-dev gfortran # 优化opencv功能
$ sudo apt-get install ffmpeg

3.0之后版本的opencv分为基础包和contrib包部分，安装contrib包时cmake的过程中由于网络问题会有下载失败的问题，如遇该情况，可以下载缺失的文件或者完整版opencv3.2安装包。

3. PCL

ROS中有1.7版本的PCL，如需自己编译安装，依赖如下

$ sudo apt-get update
$ sudo apt-get install git build-essential linux-libc-dev
$ sudo apt-get install cmake cmake-gui 
$ sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
$ sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
$ sudo apt-get install libflann1.8 libflann-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libboost-all-dev
$ sudo apt-get install libvtk-java libvtk6.2-qt libvtk6-java libvtk6.2 libvtk6-dev libvtk6-qt-dev
$ sudo apt-get install libqhull* libgtest-dev
$ sudo apt-get install freeglut3-dev pkg-config
$ sudo apt-get install libxmu-dev libxi-dev 
$ sudo apt-get install mono-complete
$ sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
$ sudo apt-get install libpcap-dev libmrpt-dev